rotary_delta: Initial support for rotary delta kinematics
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
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# This file serves as documentation for config parameters of rotary
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# delta style printers. One may copy and edit this file to configure a
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# new delta printer. Only parameters unique to delta printers are
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# described here - see the "example.cfg" file for description of
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# common config parameters.
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# ROTARY DELTA KINEMATICS ARE A WORK IN PROGRESS. Homing moves may
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# timeout and some boundary checks are not implemented.
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# The stepper_a section describes the stepper controlling the rear
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# right arm (at 30 degrees). This section also controls the homing
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# parameters (homing_speed, homing_retract_dist) for all arms.
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[stepper_a]
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step_pin: ar54
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dir_pin: ar55
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enable_pin: !ar38
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step_distance: 0.001963495
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# On a rotary delta printer the step_distance is the amount each
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# step pulse moves the upper arm in radians (for example, a directly
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# connected 1.8 degree stepper with 16 micro-steps would be 2 * pi *
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# (1.8 / 360) / 16 == 0.001963495). This parameter must be provided.
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endstop_pin: ^ar2
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homing_speed: 50
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position_endstop: 252
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# Distance (in mm) between the nozzle and the bed when the nozzle is
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# in the center of the build area and the endstop triggers. This
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# parameter must be provided for stepper_a; for stepper_b and
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# stepper_c this parameter defaults to the value specified for
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# stepper_a.
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upper_arm_length: 170.000
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# Length (in mm) of the arm connecting the "shoulder joint" to the
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# "elbow joint". This parameter must be provided for stepper_a; for
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# stepper_b and stepper_c this parameter defaults to the value
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# specified for stepper_a.
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lower_arm_length: 320.000
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# Length (in mm) of the arm connecting the "elbow joint" to the
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# "effector joint". This parameter must be provided for stepper_a;
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# for stepper_b and stepper_c this parameter defaults to the value
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# specified for stepper_a.
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#angle:
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# This option specifies the angle (in degrees) that the arm is at.
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# The default is 30 for stepper_a, 150 for stepper_b, and 270 for
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# stepper_c.
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# The stepper_b section describes the stepper controlling the rear
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# left arm (at 150 degrees).
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[stepper_b]
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step_pin: ar60
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dir_pin: ar61
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enable_pin: !ar56
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step_distance: 0.001963495
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endstop_pin: ^ar15
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# The stepper_c section describes the stepper controlling the front
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# arm (at 270 degrees).
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[stepper_c]
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step_pin: ar46
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dir_pin: ar48
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enable_pin: !ar62
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step_distance: 0.001963495
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endstop_pin: ^ar19
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[extruder]
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step_pin: ar26
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dir_pin: ar28
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enable_pin: !ar24
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step_distance: .0022
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nozzle_diameter: 0.400
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filament_diameter: 1.750
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heater_pin: ar10
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sensor_type: ATC Semitec 104GT-2
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sensor_pin: analog13
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control: pid
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pid_Kp: 22.2
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pid_Ki: 1.08
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pid_Kd: 114
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min_temp: 0
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max_temp: 250
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[heater_bed]
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heater_pin: ar8
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sensor_type: EPCOS 100K B57560G104F
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sensor_pin: analog14
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control: watermark
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min_temp: 0
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max_temp: 130
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# Print cooling fan (omit section if fan not present).
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#[fan]
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#pin: ar9
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[mcu]
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serial: /dev/ttyACM0
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pin_map: arduino
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[printer]
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kinematics: rotary_delta
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# This option must be "rotary_delta" for rotary delta printers.
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max_velocity: 300
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# Maximum velocity (in mm/s) of the toolhead relative to the
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# print. This parameter must be specified.
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max_accel: 3000
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# Maximum acceleration (in mm/s^2) of the toolhead relative to the
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# print. This parameter must be specified.
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max_z_velocity: 50
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# For delta printers this limits the maximum velocity (in mm/s) of
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# moves with z axis movement. This setting can be used to reduce the
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# maximum speed of up/down moves (which require a higher step rate
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# than other moves on a delta printer). The default is to use
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# max_velocity for max_z_velocity.
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#minimum_z_position: 0
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# The minimum Z position that the user may command the head to move
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# to. The default is 0.
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shoulder_radius: 33.900
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# Radius (in mm) of the horizontal circle formed by the three
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# shoulder joints, minus the radius of the circle formed by the
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# effector joints. This parameter may also be calculated as:
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# shoulder_radius = (delta_f - delta_e) / sqrt(12)
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# This parameter must be provided.
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shoulder_height: 412.900
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# Distance (in mm) of the shoulder joints from the bed, minus the
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# effector toolhead height. This parameter must be provided.
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# The delta_calibrate section enables a DELTA_CALIBRATE extended
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# g-code command that can calibrate the shoulder endstop positions.
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[delta_calibrate]
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radius: 50
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#speed: 50
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#horizontal_move_z: 5
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# See example-delta.cfg for a description of these parameters.
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@ -17,7 +17,7 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC"
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SOURCE_FILES = [
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'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
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'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c',
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'kin_winch.c', 'kin_extruder.c',
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'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c',
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]
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DEST_LIB = "c_helper.so"
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OTHER_FILES = [
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@ -86,6 +86,12 @@ defs_kin_polar = """
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struct stepper_kinematics *polar_stepper_alloc(char type);
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"""
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defs_kin_rotary_delta = """
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struct stepper_kinematics *rotary_delta_stepper_alloc(
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double shoulder_radius, double shoulder_height
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, double angle, double upper_arm, double lower_arm);
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"""
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defs_kin_winch = """
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struct stepper_kinematics *winch_stepper_alloc(double anchor_x
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, double anchor_y, double anchor_z);
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@ -138,7 +144,7 @@ defs_all = [
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defs_pyhelper, defs_serialqueue, defs_std,
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defs_stepcompress, defs_itersolve, defs_trapq,
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defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar,
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defs_kin_winch, defs_kin_extruder
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defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder
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]
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# Return the list of file modification times
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@ -0,0 +1,73 @@
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// Rotary delta kinematics stepper pulse time generation
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//
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// Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <math.h> // sqrt
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#include <stddef.h> // offsetof
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#include <stdlib.h> // malloc
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#include <string.h> // memset
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#include "compiler.h" // __visible
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#include "itersolve.h" // struct stepper_kinematics
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#include "trapq.h" // move_get_coord
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// The arm angle calculation is based on the following two formulas:
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// elbow_x**2 + elbow_y**2 = upper_arm**2
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// (effector_x - elbow_x)**2 + (effector_y - elbow_y)**2 = lower_arm**2
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// Calculate upper arm angle given xy position of effector joint
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// (relative to shoulder joint), upper arm length, and lower arm length.
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static inline double
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rotary_two_arm_calc(double dx, double dy, double upper_arm2, double lower_arm2)
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{
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// Determine constants such that: elbow_y = c1 - c2*elbow_x
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double inv_dy = 1. / dy;
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double c1 = .5 * inv_dy * (dx*dx + dy*dy + upper_arm2 - lower_arm2);
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double c2 = dx * inv_dy;
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// Calculate scaled elbow coordinates via quadratic equation.
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double scale = c2*c2 + 1.0;
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double scaled_elbow_x = c1*c2 + sqrt(scale*upper_arm2 - c1*c1);
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double scaled_elbow_y = c1*scale - c2*scaled_elbow_x;
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// Calculate angle in radians
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return atan2(scaled_elbow_y, scaled_elbow_x);
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}
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struct rotary_stepper {
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struct stepper_kinematics sk;
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double cos, sin, shoulder_radius, shoulder_height;
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double upper_arm2, lower_arm2;
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};
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static double
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rotary_stepper_calc_position(struct stepper_kinematics *sk, struct move *m
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, double move_time)
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{
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struct rotary_stepper *rs = container_of(sk, struct rotary_stepper, sk);
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struct coord c = move_get_coord(m, move_time);
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// Rotate and shift axes to an origin at shoulder joint with upper
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// arm constrained to xy plane and x aligned to shoulder platform.
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double sjz = c.y * rs->cos - c.x * rs->sin;
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double sjx = c.x * rs->cos + c.y * rs->sin - rs->shoulder_radius;
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double sjy = c.z - rs->shoulder_height;
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// Calculate angle in radians
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return rotary_two_arm_calc(sjx, sjy, rs->upper_arm2
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, rs->lower_arm2 - sjz*sjz);
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}
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struct stepper_kinematics * __visible
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rotary_delta_stepper_alloc(double shoulder_radius, double shoulder_height
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, double angle, double upper_arm, double lower_arm)
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{
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struct rotary_stepper *rs = malloc(sizeof(*rs));
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memset(rs, 0, sizeof(*rs));
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rs->cos = cos(angle);
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rs->sin = sin(angle);
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rs->shoulder_radius = shoulder_radius;
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rs->shoulder_height = shoulder_height;
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rs->upper_arm2 = upper_arm * upper_arm;
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rs->lower_arm2 = lower_arm * lower_arm;
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rs->sk.calc_position_cb = rotary_stepper_calc_position;
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rs->sk.active_flags = AF_X | AF_Y | AF_Z;
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return &rs->sk;
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}
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@ -0,0 +1,224 @@
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# Code for handling the kinematics of rotary delta robots
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#
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# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import math, logging
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import stepper, homing, mathutil, chelper
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class RotaryDeltaKinematics:
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def __init__(self, toolhead, config):
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# Setup tower rails
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stepper_configs = [config.getsection('stepper_' + a) for a in 'abc']
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rail_a = stepper.PrinterRail(
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stepper_configs[0], need_position_minmax=False,
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units_in_radians=True)
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a_endstop = rail_a.get_homing_info().position_endstop
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rail_b = stepper.PrinterRail(
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stepper_configs[1], need_position_minmax=False,
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default_position_endstop=a_endstop, units_in_radians=True)
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rail_c = stepper.PrinterRail(
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stepper_configs[2], need_position_minmax=False,
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default_position_endstop=a_endstop, units_in_radians=True)
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self.rails = [rail_a, rail_b, rail_c]
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config.get_printer().register_event_handler("stepper_enable:motor_off",
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self._motor_off)
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# Setup stepper max halt velocity
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max_velocity, max_accel = toolhead.get_max_velocity()
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self.max_z_velocity = config.getfloat('max_z_velocity', max_velocity,
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above=0., maxval=max_velocity)
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for rail in self.rails:
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rail.set_max_jerk(9999999.9, 9999999.9)
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# Read config
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shoulder_radius = config.getfloat('shoulder_radius', above=0.)
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shoulder_height = config.getfloat('shoulder_height', above=0.)
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a_upper_arm = stepper_configs[0].getfloat('upper_arm_length', above=0.)
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upper_arms = [
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sconfig.getfloat('upper_arm_length', a_upper_arm, above=0.)
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for sconfig in stepper_configs]
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a_lower_arm = stepper_configs[0].getfloat('lower_arm_length', above=0.)
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lower_arms = [
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sconfig.getfloat('lower_arm_length', a_lower_arm, above=0.)
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for sconfig in stepper_configs]
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angles = [sconfig.getfloat('angle', angle)
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for sconfig, angle in zip(stepper_configs, [30., 150., 270.])]
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# Setup rotary delta calibration helper
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endstops = [rail.get_homing_info().position_endstop
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for rail in self.rails]
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stepdists = [rail.get_steppers()[0].get_step_dist()
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for rail in self.rails]
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self.calibration = RotaryDeltaCalibration(
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shoulder_radius, shoulder_height, angles, upper_arms, lower_arms,
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endstops, stepdists)
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# Setup iterative solver
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for r, a, ua, la in zip(self.rails, angles, upper_arms, lower_arms):
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r.setup_itersolve('rotary_delta_stepper_alloc',
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shoulder_radius, shoulder_height,
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math.radians(a), ua, la)
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for s in self.get_steppers():
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s.set_trapq(toolhead.get_trapq())
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toolhead.register_step_generator(s.generate_steps)
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# Setup boundary checks
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self.need_home = True
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self.limit_xy2 = -1.
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eangles = [r.calc_position_from_coord([0., 0., ep])
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for r, ep in zip(self.rails, endstops)]
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self.home_position = tuple(
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self.calibration.actuator_to_cartesian(eangles))
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self.max_z = min(endstops)
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self.min_z = config.getfloat('minimum_z_position', 0, maxval=self.max_z)
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min_ua = min([shoulder_radius + ua for ua in upper_arms])
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min_la = min([la - shoulder_radius for la in lower_arms])
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self.max_xy2 = min(min_ua, min_la)**2
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arm_z = [self.calibration.elbow_coord(i, ea)[2]
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for i, ea in enumerate(eangles)]
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self.limit_z = min([az - la for az, la in zip(arm_z, lower_arms)])
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logging.info(
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"Delta max build height %.2fmm (radius tapered above %.2fmm)"
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% (self.max_z, self.limit_z))
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self.set_position([0., 0., 0.], ())
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def get_steppers(self, flags=""):
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return [s for rail in self.rails for s in rail.get_steppers()]
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def calc_tag_position(self):
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spos = [rail.get_tag_position() for rail in self.rails]
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return self.calibration.actuator_to_cartesian(spos)
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def set_position(self, newpos, homing_axes):
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for rail in self.rails:
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rail.set_position(newpos)
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self.limit_xy2 = -1.
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if tuple(homing_axes) == (0, 1, 2):
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self.need_home = False
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def home(self, homing_state):
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# All axes are homed simultaneously
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homing_state.set_axes([0, 1, 2])
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forcepos = list(self.home_position)
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#min_angles = [-.5 * math.pi] * 3
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#forcepos[2] = self.calibration.actuator_to_cartesian(min_angles)[2]
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forcepos[2] = -1.
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homing_state.home_rails(self.rails, forcepos, self.home_position)
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def _motor_off(self, print_time):
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self.limit_xy2 = -1.
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self.need_home = True
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def check_move(self, move):
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end_pos = move.end_pos
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end_xy2 = end_pos[0]**2 + end_pos[1]**2
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if end_xy2 <= self.limit_xy2 and not move.axes_d[2]:
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# Normal XY move
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return
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if self.need_home:
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raise homing.EndstopMoveError(end_pos, "Must home first")
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end_z = end_pos[2]
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limit_xy2 = self.max_xy2
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if end_z > self.limit_z:
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limit_xy2 = min(limit_xy2, (self.max_z - end_z)**2)
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if end_xy2 > limit_xy2 or end_z > self.max_z or end_z < self.min_z:
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# Move out of range - verify not a homing move
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if (end_pos[:2] != self.home_position[:2]
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or end_z < self.min_z or end_z > self.home_position[2]):
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raise homing.EndstopMoveError(end_pos)
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limit_xy2 = -1.
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if move.axes_d[2]:
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move.limit_speed(self.max_z_velocity, move.accel)
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limit_xy2 = -1.
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self.limit_xy2 = limit_xy2
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def get_status(self):
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return {'homed_axes': '' if self.need_home else 'XYZ'}
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def get_calibration(self):
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return self.calibration
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# Rotary delta parameter calibration for DELTA_CALIBRATE tool
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class RotaryDeltaCalibration:
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def __init__(self, shoulder_radius, shoulder_height, angles,
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upper_arms, lower_arms, endstops, stepdists):
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self.shoulder_radius = shoulder_radius
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self.shoulder_height = shoulder_height
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self.angles = angles
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self.upper_arms = upper_arms
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self.lower_arms = lower_arms
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self.endstops = endstops
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self.stepdists = stepdists
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# Calculate the absolute angle of each endstop
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ffi_main, self.ffi_lib = chelper.get_ffi()
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self.sks = [ffi_main.gc(self.ffi_lib.rotary_delta_stepper_alloc(
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shoulder_radius, shoulder_height, math.radians(a), ua, la),
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self.ffi_lib.free)
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for a, ua, la in zip(angles, upper_arms, lower_arms)]
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self.abs_endstops = [
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self.ffi_lib.itersolve_calc_position_from_coord(sk, 0., 0., es)
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for sk, es in zip(self.sks, endstops)]
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def coordinate_descent_params(self, is_extended):
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# Determine adjustment parameters (for use with coordinate_descent)
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adj_params = ('shoulder_height', 'endstop_a', 'endstop_b', 'endstop_c')
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if is_extended:
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adj_params += ('shoulder_radius', 'angle_a', 'angle_b')
|
||||
params = { 'shoulder_radius': self.shoulder_radius,
|
||||
'shoulder_height': self.shoulder_height }
|
||||
for i, axis in enumerate('abc'):
|
||||
params['angle_'+axis] = self.angles[i]
|
||||
params['upper_arm_'+axis] = self.upper_arms[i]
|
||||
params['lower_arm_'+axis] = self.lower_arms[i]
|
||||
params['endstop_'+axis] = self.endstops[i]
|
||||
params['stepdist_'+axis] = self.stepdists[i]
|
||||
return adj_params, params
|
||||
def new_calibration(self, params):
|
||||
# Create a new calibration object from coordinate_descent params
|
||||
shoulder_radius = params['shoulder_radius']
|
||||
shoulder_height = params['shoulder_height']
|
||||
angles = [params['angle_'+a] for a in 'abc']
|
||||
upper_arms = [params['upper_arm_'+a] for a in 'abc']
|
||||
lower_arms = [params['lower_arm_'+a] for a in 'abc']
|
||||
endstops = [params['endstop_'+a] for a in 'abc']
|
||||
stepdists = [params['stepdist_'+a] for a in 'abc']
|
||||
return RotaryDeltaCalibration(
|
||||
shoulder_radius, shoulder_height, angles, upper_arms, lower_arms,
|
||||
endstops, stepdists)
|
||||
def elbow_coord(self, elbow_id, spos):
|
||||
# Calculate elbow position in coordinate system at shoulder joint
|
||||
sj_elbow_x = self.upper_arms[elbow_id] * math.cos(spos)
|
||||
sj_elbow_y = self.upper_arms[elbow_id] * math.sin(spos)
|
||||
# Shift and rotate to main cartesian coordinate system
|
||||
angle = math.radians(self.angles[elbow_id])
|
||||
x = (sj_elbow_x + self.shoulder_radius) * math.cos(angle)
|
||||
y = (sj_elbow_x + self.shoulder_radius) * math.sin(angle)
|
||||
z = sj_elbow_y + self.shoulder_height
|
||||
return (x, y, z)
|
||||
def actuator_to_cartesian(self, spos):
|
||||
sphere_coords = [self.elbow_coord(i, sp) for i, sp in enumerate(spos)]
|
||||
lower_arm2 = [la**2 for la in self.lower_arms]
|
||||
return mathutil.trilateration(sphere_coords, lower_arm2)
|
||||
def get_position_from_stable(self, stable_position):
|
||||
# Return cartesian coordinates for the given stable_position
|
||||
spos = [ea - sp * sd
|
||||
for ea, sp, sd in zip(self.abs_endstops, stable_position,
|
||||
self.stepdists)]
|
||||
return self.actuator_to_cartesian(spos)
|
||||
def calc_stable_position(self, coord):
|
||||
# Return a stable_position from a cartesian coordinate
|
||||
pos = [ self.ffi_lib.itersolve_calc_position_from_coord(
|
||||
sk, coord[0], coord[1], coord[2])
|
||||
for sk in self.sks ]
|
||||
return [(ep - sp) / sd
|
||||
for sd, ep, sp in zip(self.stepdists, self.abs_endstops, pos)]
|
||||
def save_state(self, configfile):
|
||||
# Save the current parameters (for use with SAVE_CONFIG)
|
||||
configfile.set('printer', 'shoulder_radius', "%.6f"
|
||||
% (self.shoulder_radius,))
|
||||
configfile.set('printer', 'shoulder_height', "%.6f"
|
||||
% (self.shoulder_height,))
|
||||
for i, axis in enumerate('abc'):
|
||||
configfile.set('stepper_'+axis, 'angle', "%.6f" % (self.angles[i],))
|
||||
configfile.set('stepper_'+axis, 'position_endstop',
|
||||
"%.6f" % (self.endstops[i],))
|
||||
gcode = configfile.get_printer().lookup_object("gcode")
|
||||
gcode.respond_info(
|
||||
"stepper_a: position_endstop: %.6f angle: %.6f\n"
|
||||
"stepper_b: position_endstop: %.6f angle: %.6f\n"
|
||||
"stepper_c: position_endstop: %.6f angle: %.6f\n"
|
||||
"shoulder_radius: %.6f shoulder_height: %.6f"
|
||||
% (self.endstops[0], self.angles[0],
|
||||
self.endstops[1], self.angles[1],
|
||||
self.endstops[2], self.angles[2],
|
||||
self.shoulder_radius, self.shoulder_height))
|
||||
|
||||
def load_kinematics(toolhead, config):
|
||||
return RotaryDeltaKinematics(toolhead, config)
|
||||
|
|
@ -6,6 +6,7 @@ DICTIONARY atmega2560.dict
|
|||
CONFIG ../../config/example.cfg
|
||||
CONFIG ../../config/example-corexy.cfg
|
||||
CONFIG ../../config/example-delta.cfg
|
||||
CONFIG ../../config/example-rotary-delta.cfg
|
||||
CONFIG ../../config/example-winch.cfg
|
||||
|
||||
# Printers using the atmega2560
|
||||
|
|
|
|||
|
|
@ -0,0 +1,78 @@
|
|||
# Test config for the DELTA_CALIBRATE command (on rotary delta robots)
|
||||
[stepper_a]
|
||||
step_pin: ar54
|
||||
dir_pin: ar55
|
||||
enable_pin: !ar38
|
||||
step_distance: 0.000010
|
||||
endstop_pin: ^ar2
|
||||
homing_speed: 50
|
||||
#position_endstop: 252
|
||||
upper_arm_length: 170.000
|
||||
lower_arm_length: 320.000
|
||||
|
||||
[stepper_b]
|
||||
step_pin: ar60
|
||||
dir_pin: ar61
|
||||
enable_pin: !ar56
|
||||
step_distance: 0.000010
|
||||
endstop_pin: ^ar15
|
||||
|
||||
[stepper_c]
|
||||
step_pin: ar46
|
||||
dir_pin: ar48
|
||||
enable_pin: !ar62
|
||||
step_distance: 0.000010
|
||||
endstop_pin: ^ar19
|
||||
|
||||
[mcu]
|
||||
serial: /dev/ttyACM0
|
||||
pin_map: arduino
|
||||
|
||||
[printer]
|
||||
kinematics: rotary_delta
|
||||
max_velocity: 300
|
||||
max_accel: 3000
|
||||
max_z_velocity: 50
|
||||
#shoulder_radius: 33.900
|
||||
#shoulder_height: 412.900
|
||||
|
||||
[delta_calibrate]
|
||||
radius: 50
|
||||
|
||||
#*# <---------------------- SAVE_CONFIG ---------------------->
|
||||
#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
|
||||
#*#
|
||||
#*# [printer]
|
||||
#*# shoulder_radius = 33.900000
|
||||
#*# shoulder_height = 412.900000
|
||||
#*#
|
||||
#*# [stepper_a]
|
||||
#*# angle = 30.000000
|
||||
#*# lower_arm = 320.000011
|
||||
#*# position_endstop = 251.999999
|
||||
#*#
|
||||
#*# [stepper_b]
|
||||
#*# angle = 150.000000
|
||||
#*# lower_arm = 320.000000
|
||||
#*# position_endstop = 251.999973
|
||||
#*#
|
||||
#*# [stepper_c]
|
||||
#*# angle = 270.000000
|
||||
#*# lower_arm = 319.999985
|
||||
#*# position_endstop = 251.999902
|
||||
#*#
|
||||
#*# [delta_calibrate]
|
||||
#*# height0 = 0.0
|
||||
#*# height0_pos = 162606.000,162606.000,162605.000
|
||||
#*# height1 = 0.0
|
||||
#*# height1_pos = 157814.000,157814.000,177775.000
|
||||
#*# height2 = 0.0
|
||||
#*# height2_pos = 170956.000,151002.000,170956.000
|
||||
#*# height3 = 0.0
|
||||
#*# height3_pos = 176042.000,158122.000,158122.000
|
||||
#*# height4 = 0.0
|
||||
#*# height4_pos = 168774.000,168774.000,153337.000
|
||||
#*# height5 = 0.0
|
||||
#*# height5_pos = 158477.000,174341.000,158477.000
|
||||
#*# height6 = 0.0
|
||||
#*# height6_pos = 152152.000,169841.000,169841.000
|
||||
|
|
@ -0,0 +1,32 @@
|
|||
# Test case for basic movement on delta printers
|
||||
CONFIG rotary_delta_calibrate.cfg
|
||||
DICTIONARY atmega2560.dict
|
||||
|
||||
# Start by homing the printer.
|
||||
G28
|
||||
|
||||
# Run basic delta calibration (in manual mode)
|
||||
DELTA_ANALYZE MANUAL_HEIGHT=252
|
||||
DELTA_CALIBRATE METHOD=manual
|
||||
G1 Z0.1
|
||||
ACCEPT
|
||||
G1 Z0.1
|
||||
ACCEPT
|
||||
G1 Z0.1
|
||||
ACCEPT
|
||||
G1 Z0.1
|
||||
ACCEPT
|
||||
G1 Z0.1
|
||||
ACCEPT
|
||||
G1 Z0.1
|
||||
ACCEPT
|
||||
G1 Z0.1
|
||||
ACCEPT
|
||||
|
||||
# Run extended delta calibration
|
||||
DELTA_ANALYZE CENTER_DISTS=74,74,74,74,74,74
|
||||
DELTA_ANALYZE OUTER_DISTS=74,74,74,74,74,74
|
||||
DELTA_ANALYZE CENTER_PILLAR_WIDTHS=9,9,9
|
||||
DELTA_ANALYZE OUTER_PILLAR_WIDTHS=9,9,9,9,9,9
|
||||
DELTA_ANALYZE SCALE=1
|
||||
DELTA_ANALYZE CALIBRATE=extended
|
||||
Loading…
Reference in New Issue